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In this paper, the virtual holonomic constraint approach is initiatively applied for the trajectory planning and control design of a typical double link underactuated mechanical system, called the Pendubot. The goal is to create synchronous oscillations of both links. After modeling the system using Euler-Lagrangian equations of motion, the parameters of the model are identified with optimization techniques. Using this model, the trajectory planning is done via Virtual Holonomic Constraint approach on the basis of re-parameterization of the motion according to geometrical relations among the generalized coordinates of the system.

Pendubot trajectory planning and control using virtual holonomic constraint approach